The paper describes a fully autonomous relative navigation solution for urban environments (indoor and outdoor). The navigation solution is derived by combining measurements from a two-dimensional (2D) laser scanner with measurements from inertial sensors. This derivation relies on the availability of structures (lines and surfaces) within the scan range (80 m depth, typically). Navigation here...

Abstract This paper proposes an Equivariant Filtering (EqF) framework for the inertial-integrated state estimation. As kinematic system of navigation can be naturally modeled on matrix Lie group SE 2 (3), symmetry exploited to design equivariant filter which extends invariant extended Kalman filtering group-affine and overcomes inconsitency issue traditional extend filter. We firstly formulate ...

Global Positioning System (GPS) and Inertial Navigation Systems (INS) are used for positioning and attitude determination in a wide range of applications. Since the usage of high performance INS is limited by its high cost, for general application areas low-cost INS units are used. Over the last few years, a number of low-cost inertial sensors have become available. However, these low cost sens...

This paper presents a software solution for multiple sensor integration for autonomous vehicle navigation. The system unique features and shortcomings are taken into account to implement the fusion of an inertial navigation system (INS) with measurements from global navigation satellite system (GNSS), altimeter, odometer and magnetometer employing a complementary extended Kalman filter to produ...